EP3104694B1 - Method for locating animals - Google Patents

Method for locating animals Download PDF

Info

Publication number
EP3104694B1
EP3104694B1 EP15712244.1A EP15712244A EP3104694B1 EP 3104694 B1 EP3104694 B1 EP 3104694B1 EP 15712244 A EP15712244 A EP 15712244A EP 3104694 B1 EP3104694 B1 EP 3104694B1
Authority
EP
European Patent Office
Prior art keywords
node
animal
nodes
known position
ground
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15712244.1A
Other languages
German (de)
French (fr)
Other versions
EP3104694A1 (en
Inventor
Wolfgang Auer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Smartbow GmbH
Original Assignee
Smartbow GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Smartbow GmbH filed Critical Smartbow GmbH
Publication of EP3104694A1 publication Critical patent/EP3104694A1/en
Application granted granted Critical
Publication of EP3104694B1 publication Critical patent/EP3104694B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0242—Determining the position of transmitters to be subsequently used in positioning
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K29/00—Other apparatus for animal husbandry
    • A01K29/005—Monitoring or measuring activity, e.g. detecting heat or mating
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K11/00—Marking of animals
    • A01K11/001—Ear-tags
    • A01K11/004—Ear-tags with electronic identification means, e.g. transponders
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K11/00—Marking of animals
    • A01K11/006—Automatic identification systems for animals, e.g. electronic devices, transponders for animals
    • A01K11/008—Automatic identification systems for animals, e.g. electronic devices, transponders for animals incorporating GPS
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K29/00—Other apparatus for animal husbandry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0247—Determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/04—Position of source determined by a plurality of spaced direction-finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial

Definitions

  • the invention relates to a method for locating animals with the aid of radio waves.
  • Known systems for locating objects, such as animals, with the aid of radio waves have several radio transmitters and / or radio receivers located in known positions, as well as one radio transmitter and / or radio receiver on each object to be located.
  • the transmitters or receivers that are used for locating by means of radio waves are simply referred to as "nodes".
  • the first step in determining the position of the node attached to the animal to be located is by using radio signals to measure the length by which the distances between the individual nodes of known position and the node to be located differ from one another. For example, a signal is sent from the node to be located to all other nodes at the same time. The receiving nodes measure the point in time at which this signal arrives at them. The differences between the individual measured times, each multiplied by the speed of light (signal propagation speed in the relevant medium), result in the differences in distance between the individual nodes and the sending node.
  • the node to be located is located on a hyperboloid whose axis runs through two nodes of known position as focal points, the measured difference in distance between these nodes and the node to be located being equal to the length by which - by definition - differ the distances between the two focal points to each point located on the hyperboloid.
  • the possible position of the device to be located is restricted to two points.
  • the further restriction to one point can be made with the help of a fourth hyperboloid (so that at least four nodes of known position are required) or by using known geometrical conditions to exclude a point anyway, for example because it is outside the stable within which animals move can, is located.
  • hyperboloid means a rotationally symmetrical, shell-shaped surface that can be thought of as being the result of the rotation of a hyperbola around its main axis.
  • a single distance namely the distance between a single node of known position and the node to be located, is measured by means of radio waves.
  • the result is then just said distance between the two nodes, or in the case that it is known that the node to be located can only be located on a known line due to structural conditions, the position that is from the intersection line with the known one Line with that sphere results, whose radius is equal to the measured distance between the two nodes and whose center is at the node of known position.
  • the WO2008 / 113556 A1 is concerned with the real-time location of mobile radio-enabled tags on animals, and a method for distinguishing between different activities of each tagged animal based on the location in three dimensions of the tag within a surveillance zone.
  • the time courses stored as patterns are characteristic of certain activities of the animal such as walking, eating, ruminating, sleeping, possibly limping walking, riding on other animals. Acceleration data were used in earlier work to find the characteristic patterns and in parallel to this, the activities of animals ascertained on the basis of direct observation are recorded and correlations between acceleration patterns and activities are filtered out from the recorded data.
  • acceleration measurement data it is also possible to completely or partially carry out the evaluation of acceleration measurement data in a data processing system which is located on the device which is located on the animal and which contains the acceleration sensor or sensors.
  • the WO9941723 A1 deals with a device carried by a person or animal, which can transmit and receive radio waves and whose position can be determined by a satellite navigation system. It is also mentioned that the device can also have an acceleration sensor in addition to various other sensors that can measure a biological condition, for example.
  • the WO2011153571 A2 , WO2012079107 A2 , WO 2010066429 A1 and the WO 2009135493 A1 deal with radio-capable ear tags for animals, with an ear tag both enabling radio location and being able to contain an acceleration sensor, with the aid of which the animal's activities can be automatically recognized through pattern evaluation.
  • the US 6122960 A deals primarily with the measurement and recording of movements and distances covered by humans or animals by measuring accelerations and evaluating the measurements. In addition, it is proposed to determine an "absolute position" using radio navigation.
  • the object of the invention is to provide an automatically running method according to claim 1 that can be used in loose stalls and paddocks for animals for locating animals with the aid of radio waves, which compared to known methods of this type based on the required for this Investment expenditure delivers more accurate and more reliable results.
  • the data from the acceleration sensor are used to determine whether the animal in question is in an upright (standing, walking or running) position or in a lying position. Depending on this decision, it is concluded how high a node on the animal, which is used for radio control, is above the ground.
  • the information about the height position of the node to be located is incorporated as a boundary condition in the calculation to be carried out in the course of radio positioning, according to which the position of the node to be located is determined from the results of one or more distance measurements or distance measurements between the node attached to the animal and a or several nodes with a known position is calculated.
  • the calculation required for radio location to find the coordinates of the location at which this node is located is greatly simplified compared to a situation without such boundary conditions. It is less possible to make do with a knot of known position. Since, according to the results of the evaluation of the acceleration measurements, one can clearly determine in which of two different clearly defined areas the node to be located must be, one can of course achieve significantly better accuracy than if one only count on a mean "average area” instead and would not know whether the node to be located is actually something above or below it. Very significant advantages of the method according to the invention result if the area to be located is in which Knots can be located, shading objects such as walls or other animals.
  • knowing the height at which the node to be located is located can be used to selectively say very accurately whether or not this node is shadowed by direct visual contact with certain nodes of known position. As a result, it can be said very accurately and selectively whether the results of the respective node of known position can be included in a calculation or not.
  • the curves a, b of Fig. 1 are each a section of a line of intersection of a single hyperboloid with two different planes parallel to the xy plane. Assuming that the unit of length is one meter, the focal points of the hyperboloid lie on a straight line parallel to the x-axis 15 meters apart with the x-coordinates -7.5 and +7.5 and the difference in the distances between the two focal points to each Points of the hyperboloid is 10 meters.
  • the cutting plane which leads to curve a lies one meter below the connecting line between the focal points.
  • the cutting plane that leads to curve b is 2.2 meters below the connecting line between the focal points.
  • the normal distance between the two intersection curves a, b is only about 1/3 meter and therefore not significant at first glance. But you can see that in the normal to the connecting line between the focal points of the hyperboloid, i.e. in the normal to the connecting line between the two nodes of known position, the distance between the two curves a, b can be about two meters if the one to be located is Node located in the vicinity of the connecting line between the nodes of known position.
  • Nodes 2, 3 of a radio location system are anchored in a known position on the side walls.
  • An object 6 is located on the site, which shadows some volume areas r, s above the floor 5 of the site from the node 3, so that there is no direct visual contact with the node 3 from these volume areas.
  • the shading object can be, for example, a partition, a feeding device or another animal whose position was determined by radio location.
  • the node 1 to be located can be located at a location that appears to be resulting from the calculation. Furthermore - if the necessary basic information is available - calculation results in which measurement results of node 3 were included are rejected as invalid if they state that node 1 to be located is located in a volume area s from the position known to node 3 there is no direct visual contact. The measured signal transit time on which the calculation is based can then namely not reflect the distance between nodes 1 and 3 in a straight straight line.
  • the calculation result including node 3 can be treated further as a possible result if, based on the evaluation of the results of the acceleration measurements, it is known that node 1 to be located must be in the higher position so that point e is calculated whereabouts result.
  • a calculation result that includes the measurement result from node 3 is to be classified as definitely invalid with regard to further evaluation if, based on the evaluation of the results of the acceleration measurements, it is known that node 1 to be located must be in the lower position, so that point f would result as his calculated whereabouts, since the point f lies in the volume area s shaded by the account 3 by the object 6.
  • the method according to the invention can be used with a wide variety of animals.
  • cattle and pig applications are probably the most important.
  • it must be checked and determined for the calculations at what height above the ground the node on the animal is most likely to be during which activities of the animal. If more than two different activities of the animal are recognizable in the acceleration evaluation, more than two possible heights can be defined under certain circumstances, with a different height of a different activity (standing, "sitting", lying, lying with the head raised, lying with Head on the ground ).
  • the one that is applicable in each case must then be selected from more than two possible heights.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Animal Husbandry (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Birds (AREA)
  • Zoology (AREA)
  • Biophysics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Catching Or Destruction (AREA)

Description

Die Erfindung betrifft ein Verfahren für die Ortung von Tieren mit Hilfe von Funkwellen.The invention relates to a method for locating animals with the aid of radio waves.

Bekannte Anlagen für die Ortung von Objekten, wie beispielsweise Tieren, mit Hilfe von Funkwellen, weisen mehrere Funksender und/oder Funkempfänger auf die sich an bekannten Positionen befinden, sowie jeweils einen Funksender und/oder Funkempfänger an jedem zu ortenden Objekt.Known systems for locating objects, such as animals, with the aid of radio waves, have several radio transmitters and / or radio receivers located in known positions, as well as one radio transmitter and / or radio receiver on each object to be located.

Des Weiteren werden die Sender bzw. Empfänger, welche für die Ortung mittels Funkwellen verwendet werden einfach als "Knoten" bezeichnet. Entsprechend einem häufig angewandten Verfahren wird für das Bestimmen der Position des an dem zu ortenden Tier angebrachten Knotens im ersten Schritt mit Hilfe von Funksignalen gemessen, um welche Länge sich die Abstände der einzelnen Knoten bekannter Position zu dem zu ortenden Knoten voneinander unterscheiden. Beispielsweise wird dazu von dem zu ortenden Knoten aus ein Signal gleichzeitig an alle anderen Knoten abgesandt. Die empfangenden Knoten messen den Zeitpunkt zu welchem dieses Signal bei ihnen ankommt. Die Differenzen zwischen den einzelnen gemessenen Zeitpunkten, jeweils multipliziert mit der Lichtgeschwindigkeit (Signalausbreitungsgeschwindigkeit im betreffenden Medium) ergeben die Abstandsunterschiede der einzelnen Knoten zum sendenden Knoten. Für die weitere Berechnung wird im ersten Schritt davon ausgegangen, dass sich der zu ortende Knoten auf einem Hyperboloid befindet, dessen Achse durch zwei Knoten bekannter Position als Brennpunkte verläuft, wobei der gemessene Abstandsunterschied dieser Knoten zu dem zu ortenden Knoten gleich jener Länge ist, um welche sich - definitionsgemäß - die Distanzen zwischen den beiden Brennpunkten zu jedem auf dem Hyperboloid befindlichen Punkt unterscheiden. Durch Schneiden von mindestens drei derartigen Hyperboloiden wird die mögliche Position des zu ortenden Gerätes auf zwei Punkte eingeschränkt. Die weitere Einschränkung auf einen Punkt kann mit Hilfe eines vierten Hyperboloids erfolgen (sodass also mindestens vier Knoten bekannter Position erforderlich sind) oder indem an Hand von bekannten geometrischen Gegebenheiten ein Punkt ohnedies ausgeschlossen werden kann, beispielsweise weil er sich außerhalb des Stalls innerhalb dessen sich Tiere bewegen können, befindet. (Mit "Hyperboloid" ist in diesem Text eine rotationssymmetrische schalenförmige Fläche gemeint, die als durch Rotation einer Hyperbel um ihre Hauptachse entstanden gedacht werden kann.)Furthermore, the transmitters or receivers that are used for locating by means of radio waves are simply referred to as "nodes". According to a frequently used method, the first step in determining the position of the node attached to the animal to be located is by using radio signals to measure the length by which the distances between the individual nodes of known position and the node to be located differ from one another. For example, a signal is sent from the node to be located to all other nodes at the same time. The receiving nodes measure the point in time at which this signal arrives at them. The differences between the individual measured times, each multiplied by the speed of light (signal propagation speed in the relevant medium), result in the differences in distance between the individual nodes and the sending node. For the further calculation, it is assumed in the first step that the node to be located is located on a hyperboloid whose axis runs through two nodes of known position as focal points, the measured difference in distance between these nodes and the node to be located being equal to the length by which - by definition - differ the distances between the two focal points to each point located on the hyperboloid. By cutting at least three such hyperboloids, the possible position of the device to be located is restricted to two points. The further restriction to one point can be made with the help of a fourth hyperboloid (so that at least four nodes of known position are required) or by using known geometrical conditions to exclude a point anyway, for example because it is outside the stable within which animals move can, is located. (In this text, "hyperboloid" means a rotationally symmetrical, shell-shaped surface that can be thought of as being the result of the rotation of a hyperbola around its main axis.)

Wenn in einer Abwandlung zu dem beschriebenen Verfahren im ersten Schritt mittels Funkwellen direkt auf die Abstände zwischen dem Knoten an dem zu ortenden Tier zu den einzelnen Knoten bekannter Position geschlossen wird, so sind im zweiten Schritt anstatt der Hyperboloid-Schalen Kugelschalen anzunehmen.If, in a modification of the method described, in the first step the distance between the node on the animal to be located and the individual nodes of known position is deduced directly by means of radio waves, then in the second step spherical shells are to be assumed instead of the hyperboloid shells.

In einer vereinfachenden weiteren Abwandlung des beschriebenen Verfahrens wird mittels Funkwellen nur ein einziger Abstand, nämlich der zwischen einem einzigen Knoten bekannter Position und dem zu ortenden Knoten, gemessen. Das Ergebnis ist dann eben besagter Abstand zwischen den beiden Knoten, oder in dem Fall, dass bekannt ist, dass sich der zu ortende Knoten auf Grund baulicher Gegebenheiten ohnedies nur an einer bekannten Linie befinden kann, die Position die sich aus der Schnittlinie mit der bekannten Linie mit jener Kugel ergibt, deren Radius gleich dem gemessenen Abstand zwischen den beiden Knoten ist und deren Mittelpunkt am Knoten bekannter Position liegt.In a further simplifying modification of the method described, only a single distance, namely the distance between a single node of known position and the node to be located, is measured by means of radio waves. The result is then just said distance between the two nodes, or in the case that it is known that the node to be located can only be located on a known line due to structural conditions, the position that is from the intersection line with the known one Line with that sphere results, whose radius is equal to the measured distance between the two nodes and whose center is at the node of known position.

Mit Funklokalisierung von Tieren entsprechend den erklärten Prinzipien befassen sich beispielsweise die Schriften AT 506628 A1 , US 6122960 A , DE 100 45 469 C2 , WO9941723 A1 WO2011153571 A2 und WO2012079107 A2 .The scriptures, for example, deal with the radio localization of animals according to the principles explained AT 506628 A1 , US 6122960 A , DE 100 45 469 C2 , WO9941723 A1 WO2011153571 A2 and WO2012079107 A2 .

Auf Grund von in der Praxis oftmals unvermeidbar vorkommenden erheblichen Messfehlern und Messungenauigkeiten - z.B. wegen Reflexionen von Funkwellen - sind weitere logische Annahmen einzubringen und dementsprechende Auswertungen vorzunehmen, um ein einigermaßen verlässliches Ortungsergebnis erhalten zu können. Neben dem schon erwähnten Ausschließen von Ergebnissen die auf Grund geometrischer Gegebenheiten unmöglich sind, werden vor allem stochastische Methoden herangezogen um auch an Hand der Ergebnisse vorhergegangener Messungen die Vieldeutigkeit des/der jeweils aktuellen Ergebnisse einzuschränken und jenes Messergebnis zu finden, welches mit der geringsten Fehlerwahrscheinlichkeit die Wirklichkeit wiederspiegelt. Ein bewährtes stochastisches Modell ist in diesem Zusammenhang das Hidden-Markov-Model und dabei insbesondere der Viterbi-Algorithmus, mit Hilfe dessen relativ effizient aus einer Vielzahl von möglichen Zustandsfolgen die aktuell jeweils wahrscheinlichste Zustandsfolge gefunden werden kann. Beispielsweise in der EP 1 494 397 A2 ist eine derartige Methode insbesondere für die Anwendung zur Funklokalisierung in Gebäuden - welche auf Grund von vielfach vorkommenden Signalreflexionen besonders schwierig ist - beschrieben.Due to the considerable measurement errors and measurement inaccuracies that often unavoidably occur in practice - e.g. due to reflections from radio waves - further logical assumptions have to be made and corresponding evaluations have to be made in order to achieve a reasonable to be able to obtain reliable location results. In addition to the previously mentioned exclusion of results that are impossible due to geometrical conditions, stochastic methods are used in particular to limit the ambiguity of the current result (s) based on the results of previous measurements and to find the measurement result which has the lowest error probability Reflects reality. A proven stochastic model in this context is the hidden Markov model and in particular the Viterbi algorithm, with the aid of which the most likely current sequence of states can be found relatively efficiently from a large number of possible state sequences. For example in the EP 1 494 397 A2 a method of this type is described, in particular for use in radio localization in buildings - which is particularly difficult due to the frequent signal reflections.

Die WO2008/113556 A1 befasst sich mit der Echtzeitlokalisierung von mobilen funkfähigen Marken an Tieren, und einer Methode zum Unterscheiden zwischen verschiedenen Aktivitäten jedes markierten Tieres auf der Basis des Ortes in drei Dimensionen der Marke innerhalb einer Überwachungszone.The WO2008 / 113556 A1 is concerned with the real-time location of mobile radio-enabled tags on animals, and a method for distinguishing between different activities of each tagged animal based on the location in three dimensions of the tag within a surveillance zone.

In den Schriften EP 549081 A1 , GB 2234070 A , GB 2278198 A , US 3999611 A , US 6122960 A , US 7616124 B2 , WO 2002091001 A1 , WO 2003055388 A2 , WO 2006077589 A2 , WO 2010108496 A1 und WO 2010109313 A1 wird vorgeschlagen und erläutert Beschleunigungssensoren (unter anderem) an lebendigen Tieren anzubringen und aus den Messergebnissen der Beschleunigungssensoren auf das Verhalten der Tiere zurückzuschließen welches zu den jeweiligen Beschleunigungen führt. Üblicherweise werden dazu die Messergebnisse über eine Funkverbindung an eine Datenverarbeitungsanlage übertragen und durch diese auf Übereinstimmungen mit als Muster gespeicherten zeitlichen Verläufen von Beschleunigungsdaten überprüft.In the scriptures EP 549081 A1 , GB 2234070 A , GB 2278198 A , US 3999611 A , US 6122960 A , US 7616124 B2 , WO 2002091001 A1 , WO 2003055388 A2 , WO 2006077589 A2 , WO 2010108496 A1 and WO 2010109313 A1 it is proposed and explained to attach acceleration sensors (among other things) to living animals and to draw conclusions from the measurement results of the acceleration sensors about the behavior of the animals which leads to the respective accelerations. For this purpose, the measurement results are usually transmitted to a data processing system via a radio link and this system checks them for correspondence with the temporal progressions of acceleration data stored as a pattern.

Die als Muster gespeicherten zeitlichen Verläufe sind dabei charakteristisch für bestimmte Aktivitäten des Tieres wie beispielsweise Gehen, Fressen, Wiederkäuen, Schlafen, ggf. hinkendes Gehen, Aufreiten auf andere Tiere. Für das Finden der charakteristischen Muster wurden in früheren Arbeiten Beschleunigungsdaten und parallel dazu die an Hand von unmittelbarer Beobachtung festgestellten Aktivitäten von Tieren aufgezeichnet und aus den aufgezeichneten Daten Korrelationen zwischen Beschleunigungsmustern und Aktivitäten herausgefiltert.The time courses stored as patterns are characteristic of certain activities of the animal such as walking, eating, ruminating, sleeping, possibly limping walking, riding on other animals. Acceleration data were used in earlier work to find the characteristic patterns and in parallel to this, the activities of animals ascertained on the basis of direct observation are recorded and correlations between acceleration patterns and activities are filtered out from the recorded data.

Es ist auch möglich, die Auswertung von Beschleunigungsmessdaten ganz oder teilweise schon in einer Datenverarbeitungsanlage durchzuführen, welche sich an jenem Gerät befindet, welches sich am Tier befindet und den oder die Beschleunigungssensoren beinhaltet.It is also possible to completely or partially carry out the evaluation of acceleration measurement data in a data processing system which is located on the device which is located on the animal and which contains the acceleration sensor or sensors.

Die WO9941723 A1 befasst sich mit einem von einem Menschen oder Tier mitgeführten Gerät, welches Funkwellen senden und empfangen kann und dessen Position durch ein Satellitennavigationssystem feststellbar ist. Es wird auch erwähnt, dass das Gerät neben verschiedenen anderen Sensoren die beispielsweise einen biologischen Zustand messen können, auch einen Beschleunigungssensor aufweisen kann.The WO9941723 A1 deals with a device carried by a person or animal, which can transmit and receive radio waves and whose position can be determined by a satellite navigation system. It is also mentioned that the device can also have an acceleration sensor in addition to various other sensors that can measure a biological condition, for example.

Die WO2011153571 A2 , WO2012079107 A2 , WO 2010066429 A1 und die WO 2009135493 A1 befassen sich mit funkfähigen Ohrmarken für Tiere, wobei eine Ohrmarke sowohl Funkortung ermöglicht als auch einen Beschleunigungssensor enthalten kann, mit Hilfe dessen durch Musterauswertung Aktivitäten des Tieres automatisch erkennbar sind.The WO2011153571 A2 , WO2012079107 A2 , WO 2010066429 A1 and the WO 2009135493 A1 deal with radio-capable ear tags for animals, with an ear tag both enabling radio location and being able to contain an acceleration sensor, with the aid of which the animal's activities can be automatically recognized through pattern evaluation.

Die US 6122960 A befasst sich vorwiegend mit der Messung und Aufzeichnung von Bewegungen und zurückgelegten Entfernungen von Menschen oder Tieren durch Messung von Beschleunigungen und Auswertung der Messungen. Es wird vorgeschlagen ergänzend eine "Absolutposition" durch Funknavigation festzustellen.The US 6122960 A deals primarily with the measurement and recording of movements and distances covered by humans or animals by measuring accelerations and evaluating the measurements. In addition, it is proposed to determine an "absolute position" using radio navigation.

Von diesem Stand der Technik ausgehend liegt die Aufgabe an die Erfindung darin, ein in Laufställen und Koppeln für Tiere anwendbares automatisch ablaufendes Verfahren nach Anspruch 1 für die Ortung von Tieren mit Hilfe von Funkwellen bereitzustellen, welches gegenüber bekannten derartigen Verfahren bezogen auf den dafür erforderlichen Investitionsaufwand genauere und besser verlässliche Ergebnisse liefert.Proceeding from this prior art, the object of the invention is to provide an automatically running method according to claim 1 that can be used in loose stalls and paddocks for animals for locating animals with the aid of radio waves, which compared to known methods of this type based on the required for this Investment expenditure delivers more accurate and more reliable results.

Zum Lösen der Aufgabe wird vorgeschlagen Funkortung und Analyse der Daten von zumindest einem Beschleunigungssensor auf die folgende neuartige Weise zu kombinieren:
Aus den Daten des Beschleunigungssensors wird darauf geschlossen, ob sich das betreffende Tier in aufrechter (stehender, gehender oder laufender) Position oder in liegender Position befindet. In Abhängigkeit von dieser Entscheidung wird darauf geschlossen, wie hoch sich ein am Tier angeordneter Knoten, welcher der Funkordnung dient, über dem Boden befindet. Die Information über die Höhenposition des zu ortenden Knotens lässt man als Randbedingung in jene im Zuge der Funkortung durchzuführenden Berechnung einfließen, gemäß welcher die Position des zu ortenden Knotens aus den Ergebnissen von einer oder mehreren Distanzmessungen bzw. Distanzunterschiedsmessungen zwischen dem am Tier angebrachten Knoten und einem bzw. mehreren Knoten mit bekannter Position errechnet wird.To solve the problem, it is proposed to combine radio location and analysis of the data from at least one acceleration sensor in the following novel way:
The data from the acceleration sensor are used to determine whether the animal in question is in an upright (standing, walking or running) position or in a lying position. Depending on this decision, it is concluded how high a node on the animal, which is used for radio control, is above the ground. The information about the height position of the node to be located is incorporated as a boundary condition in the calculation to be carried out in the course of radio positioning, according to which the position of the node to be located is determined from the results of one or more distance measurements or distance measurements between the node attached to the animal and a or several nodes with a known position is calculated.

Schon durch die Annahme der Randbedingung, dass sich der zu ortende Knoten in einer bestimmten Fläche befindet, wird die bei Funkortung erforderliche Berechnung zur Auffindung der Koordinaten des Ortes an dem sich dieser Knoten befindet, gegenüber einer Situation ohne derartige Randbedingung stark vereinfacht. Man findet mit einem Knoten bekannter Lage weniger das Auslangen. Indem man zufolge der Ergebnisse der Auswertung der Beschleunigungsmessungen noch klar festlegen kann, in welcher von zwei unterschiedlichen klar definierten Flächen der zu ortende Knoten liegen muss, kann man natürlich deutlich bessere Genauigkeit erreichen, als wenn man statt dessen mit nur einer mittleren "Durchschnittsfläche" rechnen würde und dabei nicht wissen würde ob der zu ortende Knoten tatsächlich etwas darüber oder darunter liegt. Ganz wesentliche Vorteile der erfindungsgemäßen Methode ergeben sich dann, wenn sich in dem Bereich in welchem der zu ortende Knoten sein kann, abschattende Objekte wie Mauern oder andere Tiere befinden. Bei der erfindungsgemäßen Methode kann dann durch das Wissen in welcher Höhe sich der zu ortende Knoten befindet, sehr gut zutreffend selektiv gesagt werden, ob dieser Knoten von direktem Sichtkontakt zu bestimmten Knoten bekannter Position abgeschattet ist oder nicht. Damit kann in weiterer Folge sehr gut zutreffend selektiv gesagt werden ob die Ergebnisse des jeweiligen Knotens bekannter Position in eine Berechnung miteinbezogen werden können oder nicht.By assuming the boundary condition that the node to be located is located in a certain area, the calculation required for radio location to find the coordinates of the location at which this node is located is greatly simplified compared to a situation without such boundary conditions. It is less possible to make do with a knot of known position. Since, according to the results of the evaluation of the acceleration measurements, one can clearly determine in which of two different clearly defined areas the node to be located must be, one can of course achieve significantly better accuracy than if one only count on a mean "average area" instead and would not know whether the node to be located is actually something above or below it. Very significant advantages of the method according to the invention result if the area to be located is in which Knots can be located, shading objects such as walls or other animals. With the method according to the invention, knowing the height at which the node to be located is located can be used to selectively say very accurately whether or not this node is shadowed by direct visual contact with certain nodes of known position. As a result, it can be said very accurately and selectively whether the results of the respective node of known position can be included in a calculation or not.

Die Erfindung wird an Hand von Prinzipskizzen veranschaulicht:

Fig. 1:
zeigt in Ansicht von oben Schnittlinien eines Hyperboloids, dessen Achse parallel zur X-Achse verläuft mit zwei Ebenen, welche in unterschiedlichen Höhen zur xy-Ebene parallel liegen.
Fig. 2:
zeigt in Seitenansicht geometrische Verhältnisse in einem beispielhaften Raum in welchem die Erfindung angewandt wird.
The invention is illustrated by means of schematic sketches:
Fig. 1:
shows, in a view from above, cutting lines of a hyperboloid, the axis of which runs parallel to the X-axis with two planes which are parallel to the xy-plane at different heights.
Fig. 2:
shows in side view geometric relationships in an exemplary room in which the invention is applied.

Die Kurven a, b von Fig. 1 sind jeweils ein Abschnitt einer Schnittlinie eines einzigen Hyperboloids mit zwei unterschiedlichen, zur xy-Ebene parallelen Ebenen. Unter der Annahme dass die Längeneinheit ein Meter ist liegen die Brennpunkte des Hyperboloids auf einer zur x-Achse parallelen Gerade 15 Meter voneinander entfernt mit den x-Koordinaten -7,5 und +7,5 und die Differenz der Abstände der beiden Brennpunkte zu jedem Punkten des Hyperboloids beträgt 10 Meter. Die Schnittebene, welche zur Kurve a führt liegt einen Meter unterhalb der Verbindungslinie zwischen den Brennpunkten. Die Schnittebene, welche zur Kurve b führt liegt 2,2 Meter unterhalb der Verbindungslinie zwischen den Brennpunkten.The curves a, b of Fig. 1 are each a section of a line of intersection of a single hyperboloid with two different planes parallel to the xy plane. Assuming that the unit of length is one meter, the focal points of the hyperboloid lie on a straight line parallel to the x-axis 15 meters apart with the x-coordinates -7.5 and +7.5 and the difference in the distances between the two focal points to each Points of the hyperboloid is 10 meters. The cutting plane which leads to curve a lies one meter below the connecting line between the focal points. The cutting plane that leads to curve b is 2.2 meters below the connecting line between the focal points.

Die Kurven a, b spiegeln also die idealen Verhältnisse wieder wenn

  • in einem Stall an 15 Meter voneinander entfernten Wänden in 2,5 Metern Höhe jeweils ein Knoten eines Funkortungssystems angebracht wird und
  • wenn sich in dem Stall Rinder aufbewahren bei denen der zu ortende Knoten eine Ohrmarke ist und sich in 1,5 Metern Höhe befindet wenn ein Rind steht oder geht und sich in 0,3 Metern Höhe befindet wenn sich das Rind hingelegt hat oder vom Boden frisst und
  • wenn der Abstand der Ohrmarke eines Rindes zu dem einen Knoten um 10 Meter größer ist als zu dem anderen Knoten und
  • wenn beim Funkortungsprinzip ein solches angewendet wird, bei welchem die Unterschiede zwischen den Signallaufzeiten zwischen dem zu ortenden Knoten und den verschiedenen Knoten bekannter Position gemessen werden.
The curves a, b therefore reflect the ideal conditions again if
  • in a stable on walls 15 meters apart at a height of 2.5 meters a node of a radio location system is attached and
  • if there are cattle in the barn where the node to be located is an ear tag and is at a height of 1.5 meters when a cattle is standing or walking and is at a height of 0.3 meters when the cattle has lay down or is eating from the ground and
  • if the distance between the ear tag of a cattle and one knot is 10 meters greater than the other and
  • if the radio location principle is used in which the differences between the signal propagation times between the node to be located and the various nodes of known position are measured.

Bezüglich xy-Koordinaten ist der Normalabstand zwischen den beiden Schnittkurven a, b nur etwa 1/3 Meter und damit auf den ersten Blick nicht bedeutend. Man sieht aber doch, dass in der Normalen zur Verbindungslinie zwischen den Brennpunkten des Hyperboloids, also in der Normalen zur Verbindungslinie zwischen den beiden Knoten bekannter Position, der Abstand zwischen den beiden Kurven a, b etwa zwei Meter betragen kann, wenn sich der zu ortende Knoten im Nahbereich der Verbindungslinie zwischen den Knoten bekannter Position befindet.With regard to the xy coordinates, the normal distance between the two intersection curves a, b is only about 1/3 meter and therefore not significant at first glance. But you can see that in the normal to the connecting line between the focal points of the hyperboloid, i.e. in the normal to the connecting line between the two nodes of known position, the distance between the two curves a, b can be about two meters if the one to be located is Node located in the vicinity of the connecting line between the nodes of known position.

Durch die erfindungsgemäße Verwendung von einer bestimmten von zwei unterschiedlichen Kurven a, b anstatt einer einzigen "durchschnittlichen Kurve" (welche mittig zwischen den Kurven a, b anzunehmen wäre) wird also die Messgenauigkeit bezüglich der y-Koordinate drastisch verbessert, während die Verbesserung der Messgenauigkeit bezüglich der X-Koordinate (welche parallel zur Verbindungslinie zwischen den Knoten bekannter Position liegt) nur gering ist.The inventive use of one of two different curves a, b instead of a single "average curve" (which would have to be assumed in the middle between the curves a, b) so the measurement accuracy with respect to the y coordinate is drastically improved, while the improvement in the measurement accuracy with respect to the X coordinate (which lies parallel to the connecting line between the nodes of known position) is only slight.

Der vielleicht wesentlichste Vorteil des erfindungsgemäßen Verfahrens wird an Hand von Fig. 2 erklärt.Perhaps the most essential advantage of the method according to the invention is illustrated by Fig. 2 explained.

Tiere, welche zu ortenden Knoten 1, typischerweise in Form einer Ohrmarke tragen, befinden sich in einem Gelände, beispielsweise einem Laufstall, welches durch seitliche Wände 4 und einen Boden 5 definiert ist. An den seitlichen Wänden sind Knoten 2, 3 eines Funkortungssystems in bekannter Position verankert. Auf dem Gelände befindet sich ein Objekt 6, welches manche Volumenbereiche r, s über dem Boden 5 des Geländes gegen den Knoten 3 abschattet, sodass von diesen Volumenbereichen kein direkter Sichtkontakt zu dem Knoten 3 besteht. Das abschattende Objekt kann beispielsweise eine Trennwand, eine Fütterungseinrichtung oder auch ein anderes Tier, dessen Position durch Funkortung bestimmt wurde, sein.Animals, which have nodes 1 to be located, typically in the form of an ear tag, are located in an area, for example a playpen, which is defined by lateral walls 4 and a floor 5. Nodes 2, 3 of a radio location system are anchored in a known position on the side walls. An object 6 is located on the site, which shadows some volume areas r, s above the floor 5 of the site from the node 3, so that there is no direct visual contact with the node 3 from these volume areas. The shading object can be, for example, a partition, a feeding device or another animal whose position was determined by radio location.

Wie an sich bekannt, wird bei der logischen Auswertung der an sich vieldeutigen Ergebnisse der Funkortung berücksichtigt, ob sich der zu ortende Knoten 1 überhaupt an einem sich aus der Berechnung scheinbar ergebenden Ort befinden kann oder nicht. Weiters werden - sofern die notwendigen Basisinformationen dazu vorliegen - Berechnungsergebnisse in welche Messergebnisse des Knotens 3 miteingeflossen sind, als ungültig ausgeschieden, wenn sie aussagen, dass sich der zu ortende Knoten 1 in einem Volumenbereich s befindet, von dem aus zum Knoten 3 bekannter Position gar kein direkter Sichtkontakt besteht. Die der Berechnung zu Grunde liegende gemessene Signallaufzeit kann dann nämlich nicht die Distanz zwischen den Knoten 1 und 3 in direkter gestreckter Linie wiederspiegeln.As is known per se, in the logical evaluation of the ambiguous results of the radio location, it is taken into account whether or not the node 1 to be located can be located at a location that appears to be resulting from the calculation. Furthermore - if the necessary basic information is available - calculation results in which measurement results of node 3 were included are rejected as invalid if they state that node 1 to be located is located in a volume area s from the position known to node 3 there is no direct visual contact. The measured signal transit time on which the calculation is based can then namely not reflect the distance between nodes 1 and 3 in a straight straight line.

Indem erfindungsgemäß als Randbedingung für die Berechnung der Position schon angenommen wird in welcher Höhe sich der zu ortende Knoten 1 befinden muss, ergeben sich je nach Fall (kleinere oder größere der beiden möglichen Höhen) für die Berechnung deutlich unterschiedliche Volumenbereiche s, r die durch das Objekt 6 vom Knoten 3 abgeschattet sind.Since, according to the invention, it is already assumed as a boundary condition for the calculation of the position at which height the node 1 to be located must be, depending on the case (smaller or larger of the two possible heights), significantly different volume areas s, r result for the calculation Object 6 are shadowed by node 3.

Wenn eine Berechnung aus den Ergebnissen der Funkortung ergibt, dass sich der zu ortende Knoten 1 in einem bezüglich eines Knotens 3 abgeschatteten Volumenbereich s, r befindet, und wenn in diese Berechnung Messwerte des Knotens 3 miteingeflossen sind, so ist das betreffende Berechnungsergebnis für die weitere Auswertung als ungültig, also nicht weiter zu berücksichtigen, einzustufen.If a calculation from the results of the radio location shows that the node 1 to be located is in relation to a node 3 shaded volume area s, r is located, and if measured values from node 3 are included in this calculation, the calculation result in question is to be classified as invalid for further evaluation, i.e. not to be considered any further.

In dem in Fig. 2 dargestellten Beispiel kann also das den Knoten 3 miteinbeziehende Berechnungsergebnis als mögliches Ergebnis weiter behandelt werden, wenn auf Grund der Auswertung der Ergebnisse der Beschleunigungsmessungen bekannt ist, dass sich der zu ortende Knoten 1 in der höheren Position befinden muss, sodass sich der Punkt e als sein errechneter Aufenthaltsort ergibt. Hingegen ist ein Berechnungsergebnis, welches das Messergebnis vom Knoten 3 miteinbezieht bezüglich der weiteren Auswertung als sicherlich ungültig einzustufen, wenn auf Grund der Auswertung der Ergebnisse der Beschleunigungsmessungen bekannt ist, dass sich der zu ortende Knoten 1 in der tieferen Position befinden muss, sodass sich Punkt f als sein errechneter Aufenthaltsort ergeben würde, da der Punkt f in dem vom Konten 3 durch das Objekt 6 abgeschatteten Volumenbereich s liegt.In the in Fig. 2 In the example shown, the calculation result including node 3 can be treated further as a possible result if, based on the evaluation of the results of the acceleration measurements, it is known that node 1 to be located must be in the higher position so that point e is calculated whereabouts result. On the other hand, a calculation result that includes the measurement result from node 3 is to be classified as definitely invalid with regard to further evaluation if, based on the evaluation of the results of the acceleration measurements, it is known that node 1 to be located must be in the lower position, so that point f would result as his calculated whereabouts, since the point f lies in the volume area s shaded by the account 3 by the object 6.

Das erfindungsgemäße Verfahren ist bei verschiedenartigsten Tieren anwendbar. In der Praxis sind wahrscheinlich die Einsatzfälle an Rindern und an Schweinen am meisten bedeutend. Für jede Tierart und eventuell auch individuell für jedes einzelne Tier ist zu prüfen und für die Berechnungen festzulegen, in welcher Höhe über dem Boden sich der am Tier angeordnete Knoten bei welchen Aktivitäten des Tieres am wahrscheinlichsten befindet. Sofern bei der Beschleunigungsauswertung mehr als zwei unterschiedliche Aktivitäten des Tieres erkennbar sind, können unter Umständen auch mehr als zwei mögliche Höhen definiert werden, wobei jeweils eine andere Höhe einer anderen Aktivität (Stehen, "Sitzen", Liegen, Liegen mit hochgehobenem Kopf, Liegen mit Kopf am Boden...) zugeordnet ist. Als Randbedingung für die Positionsberechnung aus der Funkortung ist dann aus mehr als zwei möglichen Höhen die eine jeweils zutreffende Höhe auszuwählen.The method according to the invention can be used with a wide variety of animals. In practice, cattle and pig applications are probably the most important. For each animal species and possibly also individually for each individual animal, it must be checked and determined for the calculations at what height above the ground the node on the animal is most likely to be during which activities of the animal. If more than two different activities of the animal are recognizable in the acceleration evaluation, more than two possible heights can be defined under certain circumstances, with a different height of a different activity (standing, "sitting", lying, lying with the head raised, lying with Head on the ground ...). As a boundary condition for the position calculation from the radio location the one that is applicable in each case must then be selected from more than two possible heights.

Besonders einfache Berechnungen ergeben sich, wenn der Boden 5 eine ebene Fläche ist und wenn alle Knoten 2, 3 bekannter Position in gleicher Höhe über dem Boden 5 angeordnet sind.Particularly simple calculations result when the floor 5 is a flat surface and when all nodes 2, 3 of known positions are arranged at the same height above the floor 5.

Claims (3)

  1. A method for locating an animal with the aid of radio waves, wherein the animal is located on a ground (5) and is equipped with a node (1) of the radio location system that is to be located and wherein at least one further node (2, 3) of the radio location system is each located on one known position, wherein radio signals are transmitted between the node (1) to be located and the nodes (2, 3) with known position and wherein the distance between one or more nodes (2, 3) of known position on the one hand and the node (1) to be located on the other hand is calculated from parameters measured during signal transmissions and/or differences in the distances from the individual nodes (2, 3) of known position to the node (1) to be located are calculated and wherein further possible positions of the node (1) to be located are calculated from the calculation results and wherein the animal is provided with one or more acceleration sensors through which accelerations as a result of movements of the animal are measured and wherein it is inferred from these measurement results by means of a data processing system on the basis of a comparison with exemplary acceleration processes, which of several possible distinguishable activities the animal is currently performing,
    characterized in that
    it is stored in a data processing system, at which height above the ground (5) the node (1) to be located is on the animal at which activity of the animal, wherein at least two activities that can be distinguished from one another are assigned different heights and wherein for the calculation of the position of the node (1) to be located from the measurement results of the signal transmissions, the assumption of the height assigned to the current activity as a boundary condition is included.
  2. A method according to claim 1, characterized in that the ground 5 is a flat surface and that all nodes (2, 3) of known position are arranged at the same height above the ground 5.
  3. A Method according to claim 1 or 2, characterized
    in that it is stored in the data processing system which volume areas (r, s) above the ground (5) are shadowed by an object (6) compared to a node (3) of known position,
    in that calculation results in which measurement results of the node (3) are included and which lead to the statement that the node (1) to be located is located in a volume area (r, s) that is shadowed to the node (3) by the object (6) are classified as invalid and
    in that depending on which height of the node to be located (1) is to be assumed, different volume areas (r, s) are taken into account.
EP15712244.1A 2014-02-14 2015-02-12 Method for locating animals Active EP3104694B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA107/2014A AT515088B1 (en) 2014-02-14 2014-02-14 Method for locating animals using radio waves
PCT/AT2015/000022 WO2015120495A1 (en) 2014-02-14 2015-02-12 Method for locating animals

Publications (2)

Publication Number Publication Date
EP3104694A1 EP3104694A1 (en) 2016-12-21
EP3104694B1 true EP3104694B1 (en) 2020-12-02

Family

ID=52780738

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15712244.1A Active EP3104694B1 (en) 2014-02-14 2015-02-12 Method for locating animals

Country Status (9)

Country Link
US (2) US10568303B2 (en)
EP (1) EP3104694B1 (en)
CN (2) CN111713425B (en)
AT (1) AT515088B1 (en)
CA (1) CA2939225C (en)
ES (1) ES2844209T3 (en)
HU (1) HUE053058T2 (en)
RU (1) RU2670496C2 (en)
WO (1) WO2015120495A1 (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT517225B1 (en) * 2015-06-12 2016-12-15 Smartbow Gmbh Method for locating animals using radio waves
US20200077625A1 (en) * 2016-11-24 2020-03-12 Sharp Kabushiki Kaisha Individual identification device, individual identification system, control method for individual identification device, and storage medium
CN107549038B (en) * 2017-08-24 2020-12-22 深圳市沃特沃德股份有限公司 Supervision method and supervision system
EP3797311A1 (en) * 2018-05-23 2021-03-31 DeLaval Holding AB System, method and computer program for positioning animal tags
WO2020062154A1 (en) * 2018-09-29 2020-04-02 中国科学院深圳先进技术研究院 Method and system for detecting behavior of animal for scientific research
CN111296311B (en) * 2019-10-18 2021-11-16 北京智慧中网科技有限公司 Animal electronic board capable of sending position information at regular time
JP2020036627A (en) * 2019-12-17 2020-03-12 Ｎｔｔテクノクロス株式会社 Action specification device, action specification method, and program
CN111543348B (en) * 2020-05-14 2022-03-18 深聆科技(北京)有限公司 Sound positioning device and method for farm and cub monitoring method
CN112189567A (en) * 2020-09-12 2021-01-08 江西正邦科技股份有限公司 Pig farm epidemic prevention system and method
CN113419215A (en) * 2021-05-28 2021-09-21 常柴股份有限公司 Positioning method, device and system in limited space
CN114223568B (en) * 2022-02-28 2022-05-20 北京翰龙翔天防伪科技有限公司 Fixed ear tag marking device

Family Cites Families (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3999611A (en) 1974-11-18 1976-12-28 Louis Bucalo Devices relating to hooves
GB2234070A (en) 1989-06-12 1991-01-23 Anthony Alexander Scarisbrick Analysis of performance during an exercise activity
NL9102182A (en) 1991-12-24 1993-07-16 Stichting Inst Mech METHOD AND APPARATUS FOR DETERMINING THE STATE OF AN ANIMAL
CA2097974A1 (en) * 1992-08-03 1994-02-04 Kristine P. Maine Remote position determination
GB2278198B (en) 1993-05-20 1997-01-29 Mini Agriculture & Fisheries Condition indicator
US6122960A (en) 1995-12-12 2000-09-26 Acceleron Technologies, Llc. System and method for measuring movement of objects
US6317049B1 (en) 1998-02-17 2001-11-13 Souhail Toubia Apparatus and method for locating missing persons, animals, and objects
US6487992B1 (en) * 1999-11-22 2002-12-03 Robert L. Hollis Dog behavior monitoring and training apparatus
DE10045469C2 (en) 2000-09-14 2002-12-05 Reinhard Ludwig Electronic monitoring of a herd of animals
KR20010074568A (en) 2001-05-08 2001-08-04 이중호 The acceleration sensing motion sensor and Method for sensing therof
DE10164534A1 (en) 2001-12-31 2003-07-10 Dirk Parchmann Device and method for determining parameters of the movement of a body
NO319077B1 (en) * 2002-03-21 2005-06-13 Telenor Asa Traditional animals
US7250907B2 (en) 2003-06-30 2007-07-31 Microsoft Corporation System and methods for determining the location dynamics of a portable computing device
US7202816B2 (en) * 2003-07-22 2007-04-10 Microsoft Corporation Utilization of the approximate location of a device determined from ambient signals
US20050145187A1 (en) * 2003-12-29 2005-07-07 Gray James D. Asset management of livestock in an open range using satellite communications
IL166394A0 (en) 2005-01-19 2006-01-15 Vladimir Voronin A system and apparatus for detecting estrus
EP1887856B1 (en) * 2005-05-24 2017-12-27 Commonwealth Scientific and Industrial Research Organisation Animal management system
US7616124B2 (en) * 2005-10-11 2009-11-10 Snif Labs, Inc. Tag system
DE102006004023A1 (en) * 2006-01-27 2007-08-09 Siemens Ag Device and method for multi-dimensional location of target objects, in particular RFID transponders
IL173604A (en) * 2006-02-08 2013-01-31 E Afikim Milking Systems Agricultural Cooperative Ltd Sa Device and method for measuring an animal's posture, particularly for measuring a ruminant's posture
US8055469B2 (en) * 2006-03-03 2011-11-08 Garmin Switzerland Gmbh Method and apparatus for determining the attachment position of a motion sensing apparatus
US8323189B2 (en) * 2006-05-12 2012-12-04 Bao Tran Health monitoring appliance
US7821406B2 (en) * 2007-02-27 2010-10-26 Wangrud Carole A System for monitoring and tracking animals
GB0705452D0 (en) * 2007-03-22 2007-05-02 Faire Ni Ltd An animal monitoring system and method
KR101417737B1 (en) * 2007-11-13 2014-08-07 삼성전자주식회사 Indoor location system having sensor and method for checking location thereof
US20090211537A1 (en) 2008-02-27 2009-08-27 Aspen Pet Products, Inc. Pet toy and method and apparatus for forming the pet toy
AT506628B1 (en) 2008-03-27 2012-01-15 Schauer Maschinenfabrik Gmbh DEVICE FOR MONITORING ANIMAL ESTABLISHMENTS HELD IN A STABLE
CN102056478A (en) * 2008-05-05 2011-05-11 斯马特尔农业股份有限公司 Detection of moving objects
WO2010022797A1 (en) * 2008-08-29 2010-03-04 Telespazio S.P.A. Enhanced indoor localization
GB0822580D0 (en) * 2008-12-11 2009-01-14 Faire Ni Ltd An animal monitoring system and method
US20100238022A1 (en) * 2009-03-18 2010-09-23 Au Cindy L Pet detection system and method
WO2010108496A1 (en) 2009-03-25 2010-09-30 Smarter Farming A/S System and method for detecting behaviour of animals
ITPV20090004A1 (en) 2009-03-27 2010-09-28 Promogreen Com Srl SYSTEM FOR LOCALIZATION AND TRAINING
US8416071B2 (en) * 2009-08-03 2013-04-09 Raytheon Company Relative location determination of mobile sensor nodes
WO2011146584A1 (en) * 2010-05-18 2011-11-24 Woodstream Corporation, Inc. Custom-shape wireless dog fence system and method
AT509892B1 (en) 2010-06-09 2014-06-15 Mkw Electronics Gmbh ANIMAL BRAND
AT13366U1 (en) 2010-12-15 2013-11-15 Mkw Electronics Gmbh A method of displaying information associated with an animal
US8706137B2 (en) * 2011-08-02 2014-04-22 Qualcomm Incorporated Likelihood of mobile device portal transition

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
CN111713425A (en) 2020-09-29
HUE053058T2 (en) 2021-06-28
NZ722808A (en) 2021-04-30
CN105992514A (en) 2016-10-05
WO2015120495A1 (en) 2015-08-20
AT515088A4 (en) 2015-06-15
AT515088B1 (en) 2015-06-15
WO2015120495A8 (en) 2016-09-15
US20160345543A1 (en) 2016-12-01
CA2939225C (en) 2022-06-14
US20200154680A1 (en) 2020-05-21
RU2016134514A3 (en) 2018-09-20
NZ760819A (en) 2021-04-30
CN111713425B (en) 2022-02-11
EP3104694A1 (en) 2016-12-21
RU2670496C2 (en) 2018-10-23
RU2016134514A (en) 2018-03-15
CN105992514B (en) 2020-06-19
ES2844209T3 (en) 2021-07-21
CA2939225A1 (en) 2015-08-20
US10568303B2 (en) 2020-02-25
US11140875B2 (en) 2021-10-12

Similar Documents

Publication Publication Date Title
EP3104694B1 (en) Method for locating animals
DE102015006931B4 (en) Parking zone detection device and control method thereof
WO2017178190A1 (en) Method and system for determining a global position of a first landmark
AT516566A1 (en) Method for obtaining quantified data on re-killing activity
DE10241069A1 (en) Device for detecting the contour of a surface
EP3359925B1 (en) System and method for determining the topology of a bulk material surface
EP1752702A1 (en) Method and system for monitoring collisions between robots and persons
EP3435202A1 (en) Allocation of a tool to a gesture
EP2288932B1 (en) Method and apparatus for estimating the most probable distance between objects
DE102014210752A1 (en) Method and device for monitoring a target trajectory of a vehicle
DE3543515A1 (en) METHOD FOR MEASURING THE MOTIONS AND CONFIGURATIONS OF BIOLOGICAL AND NON-BIOLOGICAL OBJECTS
DE102020118589A1 (en) IMPROVED VEHICLE OPERATION
EP3308191B1 (en) Method for locating animals using radio waves
EP3175255B1 (en) Method for determining a position and/or orientation of a sensor
DE4013341A1 (en) METHOD AND DEVICE FOR DETERMINING THE POSITION OF AN OBJECT RELATIVELY MOVING TO AN OBSTACLE
DE102018218386B4 (en) OBJECT DETECTION DEVICE
AT506628B1 (en) DEVICE FOR MONITORING ANIMAL ESTABLISHMENTS HELD IN A STABLE
DE102021103340A1 (en) DETECTION OF OBJECT MOVEMENT BASED ON THE ANALYSIS OF ULTRASONIC SENSOR DATA
DE102019218078A1 (en) Determination of a situation in the environment of a motor vehicle
EP3352111A1 (en) Method for identifying critical events
DE102012023400A1 (en) Channel detection system of inertial navigation system for use in e.g. flight navigation, has inertial sensors that detect multi-dimensional measurement signal corresponding to current location of sewer pipe during movement
DE102018113667A1 (en) Positioning device and method
DE102017220506A1 (en) Method and device for estimating a maritime traffic condition
DE102021105417A1 (en) DETECTION OF OBJECT MOVEMENT BASED ON ANALYSIS OF ULTRASOUND SENSOR DATA
EP3096261A1 (en) Method of detecting a particular kind of surface elements of the surface of an object

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20160907

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: A01K 29/00 20060101AFI20200515BHEP

Ipc: A01K 11/00 20060101ALI20200515BHEP

INTG Intention to grant announced

Effective date: 20200609

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1339850

Country of ref document: AT

Kind code of ref document: T

Effective date: 20201215

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502015013941

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: E. BLUM AND CO. AG PATENT- UND MARKENANWAELTE , CH

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: NO

Ref legal event code: T2

Effective date: 20201202

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210303

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20201202

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210302

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

REG Reference to a national code

Ref country code: HU

Ref legal event code: AG4A

Ref document number: E053058

Country of ref document: HU

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2844209

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20210721

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210405

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502015013941

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210402

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20210228

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210212

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

26N No opposition filed

Effective date: 20210903

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210402

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210228

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NO

Payment date: 20230127

Year of fee payment: 9

Ref country code: FR

Payment date: 20230109

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20230208

Year of fee payment: 9

Ref country code: IT

Payment date: 20230210

Year of fee payment: 9

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20240306

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: AT

Payment date: 20240126

Year of fee payment: 10

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201202

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: HU

Payment date: 20240123

Year of fee payment: 10

Ref country code: DE

Payment date: 20240109

Year of fee payment: 10

Ref country code: GB

Payment date: 20240111

Year of fee payment: 10

Ref country code: CH

Payment date: 20240301

Year of fee payment: 10